The Normal/Gaussian statistical distribution. More...

#include <NormalDistribution.h>

Inheritance diagram for cloudViewer::NormalDistribution:

Collaboration diagram for cloudViewer::NormalDistribution:

Public Member Functions
	NormalDistribution ()
	NormalDistribution constructor. More...

	NormalDistribution (ScalarType _mu, ScalarType _sigma2)
	NormalDistribution constructor. More...

bool	computeParameters (const ScalarContainer &values) override
	Computes the distribution parameters from a set of values. More...

double	computeP (ScalarType x) const override
	Computes the probability of x. More...

double	computePfromZero (ScalarType x) const override
	Computes the cumulative probability between 0 and x. More...

double	computeP (ScalarType x1, ScalarType x2) const override
	Computes the cumulative probability between x1 and x2. More...

double	computeChi2Dist (const GenericCloud Yk, unsigned numberOfClasses, int histo=nullptr) override
	Computes the Chi2 distance (related to the Chi2 Test) More...

const char *	getName () const override
	Returns distribution name. More...

bool	getParameters (ScalarType &_mu, ScalarType &_sigma2) const
	Returns the distribution parameters. More...

bool	setParameters (ScalarType _mu, ScalarType _sigma2)
	Sets the distribution parameters. More...

ScalarType	getMu () const
	Returns the distribution mean. More...

ScalarType	getSigma2 () const
	Returns the distribution variance. More...

bool	computeParameters (const GenericCloud *cloud)

bool	computeRobustParameters (const ScalarContainer &values, double nSigma)

Public Member Functions inherited from cloudViewer::GenericDistribution
	GenericDistribution ()
	Default constructor. More...

virtual	~GenericDistribution ()=default
	Default destructor. More...

virtual bool	isValid () const
	Indicates if the distribution parameters are valid. More...

Protected Member Functions
virtual bool	setChi2ClassesPositions (unsigned numberOfClasses)
	Compute each Chi2 class limits. More...

Protected Member Functions inherited from cloudViewer::GenericDistribution
void	setValid (bool state)
	Sets distribution current validity. More...

Protected Attributes
ScalarType	m_mu
	Mean. More...

ScalarType	m_sigma2
	Variance. More...

double	m_qFactor
	Exponential quotient. More...

double	m_normFactor
	Normalization factor. More...

std::vector< ScalarType >	m_chi2ClassesPositions
	Chi2 classes limits. More...

std::vector< ScalarType >	m_Pi
	Structure used during the Chi2 distance computation. More...

Protected Attributes inherited from cloudViewer::GenericDistribution
bool	m_isValid
	Whether the distribution is in a valid state or not. More...

Additional Inherited Members
Public Types inherited from cloudViewer::GenericDistribution
using	ScalarContainer = std::vector< ScalarType >
	Scalar values container. More...

Detailed Description

The Normal/Gaussian statistical distribution.

Implements the GenericDistribution interface.

Definition at line 18 of file NormalDistribution.h.

Constructor & Destructor Documentation

◆ NormalDistribution() [1/2]

NormalDistribution::NormalDistribution ( )

NormalDistribution constructor.

Definition at line 24 of file NormalDistribution.cpp.

◆ NormalDistribution() [2/2]

NormalDistribution::NormalDistribution	(	ScalarType	_mu,
		ScalarType	_sigma2
	)

NormalDistribution constructor.

Distrubtion parameters can be directly set during object construction.

Parameters

_mu	the normal distribution mean
_sigma2	the normal distribution variance

Definition at line 31 of file NormalDistribution.cpp.

References setParameters().

Member Function Documentation

◆ computeChi2Dist()

double NormalDistribution::computeChi2Dist	(	const GenericCloud *	Yk,
		unsigned	numberOfClasses,
		int *	histo = `nullptr`
	)

overridevirtual

Computes the Chi2 distance (related to the Chi2 Test)

Computes the Chi2 distance from a group of point, accordingly to a certain number of classes (see Chi2 test theory for more information). The result of projecting each point (or more precisely each scalar value associated to each point) in the different classes can be stored in an array (of the same size as the number of classes). To do so, such an array (already allocated in memory) should be passed as an argument. Warning: be sure to activate an OUTPUT scalar field on the input cloud

Parameters

Yk	a group of points
numberOfClasses	the number of classes for the Chi2 Test
histo	an array to store the values projection result (optional)

Returns: the Chi2 distance (or -1.0 if an error occurred)

Implements cloudViewer::GenericDistribution.

Definition at line 164 of file NormalDistribution.cpp.

References cloudViewer::ScalarFieldTools::countScalarFieldValidValues(), cloudViewer::GenericCloud::getPointScalarValue(), m_chi2ClassesPositions, m_Pi, setChi2ClassesPositions(), cloudViewer::GenericCloud::size(), and cloudViewer::ScalarField::ValidValue().

◆ computeP() [1/2]

double NormalDistribution::computeP ( ScalarType x ) const

overridevirtual

Computes the probability of x.

Parameters

x	the variable

Returns: the probabilty

Implements cloudViewer::GenericDistribution.

Definition at line 64 of file NormalDistribution.cpp.

References m_mu, m_normFactor, and m_qFactor.

◆ computeP() [2/2]

double NormalDistribution::computeP	(	ScalarType	x1,
		ScalarType	x2
	)		const

overridevirtual

Computes the cumulative probability between x1 and x2.

x1 should be lower than x2

Parameters

x1	the lower boundary
x2	the upper boundary

Returns: the cumulative probabilty

Implements cloudViewer::GenericDistribution.

Definition at line 69 of file NormalDistribution.cpp.

References cloudViewer::ErrorFunction::erf(), m_mu, and m_sigma2.

◆ computeParameters() [1/2]

bool NormalDistribution::computeParameters ( const GenericCloud * cloud )

Computes the distribution parameters from a point cloud (with scalar values)

Definition at line 82 of file NormalDistribution.cpp.

References abs(), cloudViewer::GenericCloud::getPointScalarValue(), setParameters(), cloudViewer::GenericDistribution::setValid(), cloudViewer::GenericCloud::size(), and cloudViewer::ScalarField::ValidValue().

◆ computeParameters() [2/2]

bool NormalDistribution::computeParameters ( const ScalarContainer & values )

overridevirtual

Computes the distribution parameters from a set of values.

Parameters

values a set of scalar values

Returns: true (if the computation succeeded) or false (if not)

Implements cloudViewer::GenericDistribution.

Definition at line 109 of file NormalDistribution.cpp.

References abs(), setParameters(), cloudViewer::GenericDistribution::setValid(), and cloudViewer::ScalarField::ValidValue().

Referenced by computeRobustParameters(), define_NormalDistribution(), and cloudViewer::ICPRegistrationTools::Register().

◆ computePfromZero()

double NormalDistribution::computePfromZero ( ScalarType x ) const

overridevirtual

Computes the cumulative probability between 0 and x.

Parameters

x	the upper boundary

Returns: the cumulative probabilty

Implements cloudViewer::GenericDistribution.

Definition at line 76 of file NormalDistribution.cpp.

References cloudViewer::ErrorFunction::erf(), m_mu, and m_sigma2.

Referenced by setChi2ClassesPositions().

◆ computeRobustParameters()

bool NormalDistribution::computeRobustParameters	(	const ScalarContainer &	values,
		double	nSigma
	)

Computes robust parameters for the distribution from an array of scalar values Specific method to compute the parameters directly from an array (vector) of scalar values, without associated points. After a first pass, only the values close enough to the mean (in terms of nSigma times the initial variance) are kept to make a second and more robust evaluation of the parameters.

Parameters

values	the scalar values
nSigma	the values filtering interval size ([mu -nSigma * stddev : mu + nSigma * stddev])

Returns: the validity of the computed parameters

Definition at line 135 of file NormalDistribution.cpp.

References abs(), computeParameters(), m_mu, m_sigma2, and setParameters().

Referenced by define_NormalDistribution().

◆ getMu()

ScalarType cloudViewer::NormalDistribution::getMu ( ) const

inline

Returns the distribution mean.

Definition at line 56 of file NormalDistribution.h.

Referenced by define_NormalDistribution().

◆ getName()

const char* cloudViewer::NormalDistribution::getName ( ) const

inlineoverridevirtual

Returns distribution name.

Implements cloudViewer::GenericDistribution.

Definition at line 39 of file NormalDistribution.h.

◆ getParameters()

bool NormalDistribution::getParameters	(	ScalarType &	_mu,
		ScalarType &	_sigma2
	)		const

Returns the distribution parameters.

Parameters

_mu	a field to transmit the distribution mean
_sigma2	a field to transmit the distribution variance return the parameters validity

Definition at line 35 of file NormalDistribution.cpp.

References cloudViewer::GenericDistribution::isValid(), m_mu, and m_sigma2.

Referenced by cloudViewer::ICPRegistrationTools::Register(), and cloudViewer::StatisticalTestingTools::testCloudWithStatisticalModel().

◆ getSigma2()

ScalarType cloudViewer::NormalDistribution::getSigma2 ( ) const

inline

Returns the distribution variance.

Definition at line 59 of file NormalDistribution.h.

Referenced by define_NormalDistribution().

◆ setChi2ClassesPositions()

bool NormalDistribution::setChi2ClassesPositions ( unsigned numberOfClasses )

protectedvirtual

Compute each Chi2 class limits.

This method is used (internally) to accelerate the Chi2 distance computation.

Parameters

numberOfClasses the number of classes that will be used for Chi2 distance computation

Returns: success

Definition at line 221 of file NormalDistribution.cpp.

References computePfromZero(), cloudViewer::GenericDistribution::isValid(), m_chi2ClassesPositions, m_mu, m_Pi, and m_sigma2.

Referenced by computeChi2Dist().

◆ setParameters()

bool NormalDistribution::setParameters	(	ScalarType	_mu,
		ScalarType	_sigma2
	)

Sets the distribution parameters.

Parameters

_mu	the distribution mean
_sigma2	the distribution variance return the parameters validity

Definition at line 43 of file NormalDistribution.cpp.

References cloudViewer::GenericDistribution::isValid(), m_chi2ClassesPositions, m_mu, m_normFactor, M_PI, m_Pi, m_qFactor, m_sigma2, and cloudViewer::GenericDistribution::setValid().

Referenced by computeParameters(), computeRobustParameters(), define_NormalDistribution(), NormalDistribution(), CommandStatTest::process(), and ccEntityAction::statisticalTest().

Member Data Documentation

◆ m_chi2ClassesPositions

std::vector<ScalarType> cloudViewer::NormalDistribution::m_chi2ClassesPositions

protected

Chi2 classes limits.

Used internally. Stores both limits for each class in a vector (min_class_1, max_class_1, min_class_2, max_class_2, etc.).

Definition at line 98 of file NormalDistribution.h.

Referenced by computeChi2Dist(), setChi2ClassesPositions(), and setParameters().

◆ m_mu

ScalarType cloudViewer::NormalDistribution::m_mu

protected

Mean.

Definition at line 86 of file NormalDistribution.h.

Referenced by computeP(), computePfromZero(), computeRobustParameters(), getParameters(), setChi2ClassesPositions(), and setParameters().

◆ m_normFactor

double cloudViewer::NormalDistribution::m_normFactor

protected

Normalization factor.

Definition at line 92 of file NormalDistribution.h.

Referenced by computeP(), and setParameters().

◆ m_Pi

std::vector<ScalarType> cloudViewer::NormalDistribution::m_Pi

protected

Structure used during the Chi2 distance computation.

Definition at line 101 of file NormalDistribution.h.

Referenced by computeChi2Dist(), setChi2ClassesPositions(), and setParameters().

◆ m_qFactor

double cloudViewer::NormalDistribution::m_qFactor

protected

Exponential quotient.

Definition at line 90 of file NormalDistribution.h.

Referenced by computeP(), and setParameters().

◆ m_sigma2

ScalarType cloudViewer::NormalDistribution::m_sigma2

protected

Variance.

Definition at line 88 of file NormalDistribution.h.

Referenced by computeP(), computePfromZero(), computeRobustParameters(), getParameters(), setChi2ClassesPositions(), and setParameters().

The documentation for this class was generated from the following files:

/root/ACloudViewer/core/include/NormalDistribution.h
/root/ACloudViewer/core/src/NormalDistribution.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NormalDistribution() [1/2]

◆ NormalDistribution() [2/2]

Member Function Documentation

◆ computeChi2Dist()

◆ computeP() [1/2]

◆ computeP() [2/2]

◆ computeParameters() [1/2]

◆ computeParameters() [2/2]

◆ computePfromZero()

◆ computeRobustParameters()

◆ getMu()

◆ getName()

◆ getParameters()

◆ getSigma2()

◆ setChi2ClassesPositions()

◆ setParameters()

Member Data Documentation

◆ m_chi2ClassesPositions

◆ m_mu

◆ m_normFactor

◆ m_Pi

◆ m_qFactor

◆ m_sigma2